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sequence | observation.state
sequence | timestamp
float32 0
19.9
| frame_index
int64 0
597
| episode_index
int64 0
19
| index
int64 0
12k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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| 0.033333 | 1 | 0 | 1 | 0 |
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| 0.133333 | 4 | 0 | 4 | 0 |
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| 0.166667 | 5 | 0 | 5 | 0 |
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| 0.2 | 6 | 0 | 6 | 0 |
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| 0.233333 | 7 | 0 | 7 | 0 |
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| 0.266667 | 8 | 0 | 8 | 0 |
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| 0.3 | 9 | 0 | 9 | 0 |
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| 0.333333 | 10 | 0 | 10 | 0 |
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| 0.366667 | 11 | 0 | 11 | 0 |
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| 0.4 | 12 | 0 | 12 | 0 |
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| 0.433333 | 13 | 0 | 13 | 0 |
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| 0.466667 | 14 | 0 | 14 | 0 |
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| 0.5 | 15 | 0 | 15 | 0 |
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89.912109375,
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88.76953125,
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| [
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| 0.533333 | 16 | 0 | 16 | 0 |
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88.505859375,
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| 0.566667 | 17 | 0 | 17 | 0 |
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104.58984375,
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| 0.6 | 18 | 0 | 18 | 0 |
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| 0.633333 | 19 | 0 | 19 | 0 |
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| 0.666667 | 20 | 0 | 20 | 0 |
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| 0.7 | 21 | 0 | 21 | 0 |
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| 0.733333 | 22 | 0 | 22 | 0 |
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| 0.766667 | 23 | 0 | 23 | 0 |
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| 0.8 | 24 | 0 | 24 | 0 |
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| 0.833333 | 25 | 0 | 25 | 0 |
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| 0.866667 | 26 | 0 | 26 | 0 |
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| 0.9 | 27 | 0 | 27 | 0 |
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| 0.933333 | 28 | 0 | 28 | 0 |
[
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| [
104.58984375,
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89.47265625,
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| 0.966667 | 29 | 0 | 29 | 0 |
[
104.677734375,
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88.76953125,
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104.58984375,
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| 1 | 30 | 0 | 30 | 0 |
[
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104.58984375,
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| 1.033333 | 31 | 0 | 31 | 0 |
[
105.29296875,
90,
89.912109375,
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88.76953125,
90
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| [
104.58984375,
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89.47265625,
88.505859375,
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| 1.066667 | 32 | 0 | 32 | 0 |
[
105.46875,
90,
89.912109375,
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88.76953125,
90
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| [
104.58984375,
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89.82421875,
89.47265625,
88.505859375,
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| 1.1 | 33 | 0 | 33 | 0 |
[
105.8203125,
90,
89.912109375,
89.47265625,
88.76953125,
90
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| [
104.765625,
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| 1.133333 | 34 | 0 | 34 | 0 |
[
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88.76953125,
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| 1.166667 | 35 | 0 | 35 | 0 |
[
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90,
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88.76953125,
90
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| [
105.380859375,
90,
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89.47265625,
88.505859375,
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| 1.2 | 36 | 0 | 36 | 0 |
[
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90,
89.912109375,
88.41796875,
88.76953125,
90
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| [
105.46875,
90,
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89.47265625,
88.505859375,
90.087890625
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| 1.233333 | 37 | 0 | 37 | 0 |
[
106.435546875,
90,
89.912109375,
87.71484375,
88.76953125,
90
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| [
105.732421875,
90,
89.82421875,
89.384765625,
88.505859375,
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| 1.266667 | 38 | 0 | 38 | 0 |
[
106.611328125,
90,
89.82421875,
87.099609375,
88.76953125,
90
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| [
106.083984375,
90,
89.82421875,
89.033203125,
88.505859375,
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| 1.3 | 39 | 0 | 39 | 0 |
[
106.875,
90,
89.47265625,
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89.384765625,
90
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| [
106.171875,
90,
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88.59375,
88.505859375,
90.087890625
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| 1.333333 | 40 | 0 | 40 | 0 |
[
107.138671875,
90,
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89.384765625,
90
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| [
106.171875,
90,
89.82421875,
88.06640625,
88.59375,
90.087890625
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| 1.366667 | 41 | 0 | 41 | 0 |
[
107.40234375,
90,
88.330078125,
86.484375,
89.560546875,
90
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| [
106.259765625,
90,
89.82421875,
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88.9453125,
90.087890625
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| 1.4 | 42 | 0 | 42 | 0 |
[
107.666015625,
90,
87.451171875,
86.8359375,
89.912109375,
90
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| [
106.69921875,
90,
89.82421875,
87.451171875,
89.033203125,
90.087890625
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| 1.433333 | 43 | 0 | 43 | 0 |
[
107.841796875,
90,
86.484375,
87.36328125,
90.087890625,
90
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| [
107.05078125,
90,
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87.36328125,
89.208984375,
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| 1.466667 | 44 | 0 | 44 | 0 |
[
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90,
85.60546875,
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90.17578125,
90
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| [
107.314453125,
90,
89.47265625,
87.36328125,
89.47265625,
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| 1.5 | 45 | 0 | 45 | 0 |
[
108.369140625,
90,
84.638671875,
88.154296875,
90.3515625,
90
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| [
107.314453125,
90,
88.857421875,
87.36328125,
89.736328125,
90.087890625
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| 1.533333 | 46 | 0 | 46 | 0 |
[
108.544921875,
90,
83.671875,
88.59375,
90.439453125,
90
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| [
107.578125,
89.912109375,
88.154296875,
87.626953125,
89.82421875,
90.087890625
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| 1.566667 | 47 | 0 | 47 | 0 |
[
108.720703125,
90,
82.6171875,
88.681640625,
90.439453125,
90
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| [
108.017578125,
89.912109375,
87.36328125,
87.890625,
90,
90.087890625
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| 1.6 | 48 | 0 | 48 | 0 |
[
108.984375,
90,
81.474609375,
88.681640625,
90.615234375,
90
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| [
108.28125,
89.912109375,
86.572265625,
88.2421875,
90.087890625,
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| 1.633333 | 49 | 0 | 49 | 0 |
[
109.16015625,
90,
80.244140625,
88.681640625,
90.87890625,
90
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| [
108.369140625,
89.912109375,
85.517578125,
88.41796875,
90.087890625,
90.087890625
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| 1.666667 | 50 | 0 | 50 | 0 |
[
109.248046875,
90,
79.013671875,
88.857421875,
91.142578125,
90
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| [
108.369140625,
89.912109375,
84.55078125,
88.41796875,
90.3515625,
90.087890625
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| 1.7 | 51 | 0 | 51 | 0 |
[
109.248046875,
90.087890625,
77.87109375,
88.9453125,
91.23046875,
90
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| [
108.720703125,
89.912109375,
83.408203125,
88.41796875,
90.52734375,
90.087890625
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| 1.733333 | 52 | 0 | 52 | 0 |
[
109.248046875,
90.3515625,
76.640625,
89.033203125,
91.318359375,
90
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| [
109.072265625,
89.912109375,
82.177734375,
88.505859375,
90.791015625,
90.087890625
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| 1.766667 | 53 | 0 | 53 | 0 |
[
109.248046875,
91.0546875,
75.322265625,
89.12109375,
91.40625,
90
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| [
109.072265625,
89.912109375,
81.03515625,
88.681640625,
90.87890625,
90.087890625
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| 1.8 | 54 | 0 | 54 | 0 |
[
109.3359375,
92.197265625,
73.828125,
89.12109375,
91.40625,
90
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| [
108.984375,
90,
79.892578125,
88.76953125,
90.966796875,
90.087890625
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| 1.833333 | 55 | 0 | 55 | 0 |
[
109.3359375,
93.779296875,
72.0703125,
88.9453125,
91.23046875,
90
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| [
108.984375,
90.439453125,
78.662109375,
88.9453125,
91.142578125,
90.087890625
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| 1.866667 | 56 | 0 | 56 | 0 |
[
109.3359375,
95.888671875,
70.048828125,
88.681640625,
91.0546875,
90
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| [
108.896484375,
91.23046875,
77.255859375,
88.9453125,
91.142578125,
90.087890625
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| 1.9 | 57 | 0 | 57 | 0 |
[
109.16015625,
98.26171875,
68.02734375,
88.154296875,
90.615234375,
90
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| [
108.896484375,
92.373046875,
75.76171875,
88.9453125,
91.142578125,
90.087890625
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| 1.933333 | 58 | 0 | 58 | 0 |
[
109.072265625,
101.07421875,
65.7421875,
87.451171875,
90.263671875,
90
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| [
108.896484375,
93.8671875,
73.916015625,
88.9453125,
91.142578125,
90.087890625
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| 1.966667 | 59 | 0 | 59 | 0 |
[
108.80859375,
104.150390625,
63.28125,
86.572265625,
90,
90
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| [
108.896484375,
95.80078125,
71.982421875,
88.76953125,
91.0546875,
90.087890625
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| 2 | 60 | 0 | 60 | 0 |
[
108.544921875,
107.2265625,
60.908203125,
85.517578125,
89.384765625,
90
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| [
108.896484375,
98.0859375,
70.048828125,
88.2421875,
90.791015625,
90.087890625
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| 2.033333 | 61 | 0 | 61 | 0 |
[
108.28125,
110.56640625,
58.271484375,
84.375,
88.857421875,
90
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| [
108.896484375,
100.546875,
67.939453125,
87.626953125,
90.439453125,
90.087890625
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| 2.066667 | 62 | 0 | 62 | 0 |
[
108.017578125,
113.994140625,
55.458984375,
83.3203125,
88.505859375,
90
]
| [
108.896484375,
103.271484375,
65.56640625,
86.923828125,
90,
90.087890625
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| 2.1 | 63 | 0 | 63 | 0 |
[
107.75390625,
117.421875,
52.646484375,
82.44140625,
88.154296875,
90
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| [
108.80859375,
106.171875,
63.193359375,
85.869140625,
89.47265625,
90.087890625
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| 2.133333 | 64 | 0 | 64 | 0 |
[
107.578125,
120.5859375,
50.09765625,
81.38671875,
87.890625,
90
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| [
108.45703125,
109.423828125,
60.64453125,
84.90234375,
89.033203125,
90.087890625
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| 2.166667 | 65 | 0 | 65 | 0 |
[
107.490234375,
123.837890625,
47.4609375,
80.771484375,
87.890625,
90
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| [
108.017578125,
112.763671875,
58.095703125,
84.0234375,
88.681640625,
90.087890625
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| 2.2 | 66 | 0 | 66 | 0 |
[
107.314453125,
127.001953125,
44.912109375,
80.5078125,
87.626953125,
90
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| [
107.75390625,
116.279296875,
55.37109375,
82.96875,
88.41796875,
90.087890625
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| 2.233333 | 67 | 0 | 67 | 0 |
[
107.138671875,
130.166015625,
42.275390625,
80.419921875,
87.275390625,
90
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| [
107.75390625,
119.443359375,
52.734375,
82.265625,
88.2421875,
90.087890625
]
| 2.266667 | 68 | 0 | 68 | 0 |
[
106.962890625,
132.802734375,
39.990234375,
80.33203125,
87.1875,
90
]
| [
107.841796875,
122.607421875,
50.2734375,
81.826171875,
87.978515625,
90.087890625
]
| 2.3 | 69 | 0 | 69 | 0 |
[
106.787109375,
135.087890625,
38.408203125,
80.068359375,
87.1875,
90
]
| [
107.75390625,
125.68359375,
47.548828125,
81.474609375,
87.71484375,
90.087890625
]
| 2.333333 | 70 | 0 | 70 | 0 |
[
106.5234375,
136.93359375,
37.353515625,
79.453125,
87.1875,
89.82421875
]
| [
107.314453125,
128.759765625,
45,
81.2109375,
87.626953125,
90.087890625
]
| 2.366667 | 71 | 0 | 71 | 0 |
[
106.34765625,
138.427734375,
36.650390625,
78.837890625,
87.36328125,
89.82421875
]
| [
106.875,
131.572265625,
42.890625,
80.859375,
87.626953125,
90.087890625
]
| 2.4 | 72 | 0 | 72 | 0 |
[
106.083984375,
139.921875,
36.03515625,
78.3984375,
87.451171875,
89.82421875
]
| [
106.787109375,
134.033203125,
41.30859375,
80.33203125,
87.626953125,
90.087890625
]
| 2.433333 | 73 | 0 | 73 | 0 |
[
105.908203125,
141.328125,
35.5078125,
78.046875,
87.451171875,
89.82421875
]
| [
106.69921875,
136.0546875,
40.166015625,
79.8046875,
87.626953125,
90.087890625
]
| 2.466667 | 74 | 0 | 74 | 0 |
[
105.556640625,
142.55859375,
35.15625,
77.607421875,
87.451171875,
89.82421875
]
| [
106.69921875,
137.724609375,
39.287109375,
79.453125,
87.626953125,
90.087890625
]
| 2.5 | 75 | 0 | 75 | 0 |
[
105.380859375,
143.7890625,
34.892578125,
77.255859375,
87.451171875,
89.82421875
]
| [
106.435546875,
138.779296875,
38.759765625,
79.189453125,
87.626953125,
90.087890625
]
| 2.533333 | 76 | 0 | 76 | 0 |
[
105.029296875,
145.1953125,
34.453125,
77.255859375,
87.451171875,
89.82421875
]
| [
106.083984375,
140.185546875,
38.056640625,
78.57421875,
87.626953125,
90.087890625
]
| 2.566667 | 77 | 0 | 77 | 0 |
[
104.765625,
146.42578125,
34.27734375,
76.904296875,
87.451171875,
89.82421875
]
| [
105.556640625,
142.03125,
37.353515625,
78.22265625,
87.626953125,
90.087890625
]
| 2.6 | 78 | 0 | 78 | 0 |
[
104.4140625,
147.568359375,
34.27734375,
76.2890625,
87.36328125,
89.82421875
]
| [
105.205078125,
143.701171875,
36.9140625,
78.046875,
87.626953125,
90.087890625
]
| 2.633333 | 79 | 0 | 79 | 0 |
[
104.150390625,
148.88671875,
34.27734375,
75.76171875,
87.275390625,
89.82421875
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| [
105.1171875,
145.107421875,
36.73828125,
77.607421875,
87.626953125,
90.087890625
]
| 2.666667 | 80 | 0 | 80 | 0 |
[
103.798828125,
150.1171875,
34.27734375,
75.146484375,
87.275390625,
89.82421875
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| [
105.029296875,
146.337890625,
36.73828125,
77.16796875,
87.626953125,
90.087890625
]
| 2.7 | 81 | 0 | 81 | 0 |
[
103.271484375,
151.171875,
34.189453125,
74.70703125,
87.1875,
89.82421875
]
| [
104.677734375,
147.65625,
36.5625,
76.640625,
87.626953125,
90.087890625
]
| 2.733333 | 82 | 0 | 82 | 0 |
[
102.83203125,
152.138671875,
34.189453125,
74.53125,
87.1875,
89.82421875
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| [
104.150390625,
148.974609375,
36.5625,
76.11328125,
87.626953125,
90.087890625
]
| 2.766667 | 83 | 0 | 83 | 0 |
[
102.392578125,
153.28125,
34.189453125,
74.1796875,
87.1875,
89.82421875
]
| [
103.7109375,
150.205078125,
36.5625,
75.673828125,
87.626953125,
90.087890625
]
| 2.8 | 84 | 0 | 84 | 0 |
[
101.953125,
154.3359375,
34.189453125,
73.828125,
87.1875,
89.82421875
]
| [
103.18359375,
151.34765625,
36.5625,
75.322265625,
87.626953125,
90.087890625
]
| 2.833333 | 85 | 0 | 85 | 0 |
[
101.513671875,
155.390625,
34.189453125,
73.4765625,
87.01171875,
89.82421875
]
| [
102.83203125,
152.40234375,
36.5625,
74.970703125,
87.626953125,
90.087890625
]
| 2.866667 | 86 | 0 | 86 | 0 |
[
101.07421875,
156.357421875,
34.189453125,
73.212890625,
86.8359375,
89.82421875
]
| [
102.568359375,
153.544921875,
36.5625,
74.619140625,
87.626953125,
90.087890625
]
| 2.9 | 87 | 0 | 87 | 0 |
[
100.634765625,
157.236328125,
34.189453125,
72.7734375,
86.572265625,
89.912109375
]
| [
102.12890625,
154.599609375,
36.5625,
74.267578125,
87.36328125,
90.087890625
]
| 2.933333 | 88 | 0 | 88 | 0 |
[
100.283203125,
158.115234375,
34.189453125,
72.421875,
86.484375,
89.912109375
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| [
101.689453125,
155.654296875,
36.5625,
73.916015625,
87.1875,
90.087890625
]
| 2.966667 | 89 | 0 | 89 | 0 |
[
99.84375,
158.818359375,
34.27734375,
72.0703125,
86.484375,
89.912109375
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| [
101.162109375,
156.62109375,
36.5625,
73.564453125,
86.923828125,
90.087890625
]
| 3 | 90 | 0 | 90 | 0 |
[
99.404296875,
159.43359375,
34.541015625,
71.455078125,
86.220703125,
90
]
| [
100.72265625,
157.587890625,
36.5625,
73.212890625,
86.8359375,
90.087890625
]
| 3.033333 | 91 | 0 | 91 | 0 |
[
98.96484375,
160.224609375,
34.62890625,
71.015625,
85.95703125,
90
]
| [
100.283203125,
158.37890625,
36.5625,
72.7734375,
86.748046875,
90.087890625
]
| 3.066667 | 92 | 0 | 92 | 0 |
[
98.525390625,
160.83984375,
34.62890625,
70.576171875,
85.78125,
90
]
| [
99.84375,
159.08203125,
36.5625,
72.333984375,
86.484375,
90.087890625
]
| 3.1 | 93 | 0 | 93 | 0 |
[
98.0859375,
161.455078125,
34.62890625,
70.13671875,
85.4296875,
90
]
| [
99.580078125,
159.873046875,
36.5625,
71.806640625,
86.30859375,
90.087890625
]
| 3.133333 | 94 | 0 | 94 | 0 |
[
97.646484375,
162.0703125,
34.62890625,
69.697265625,
85.166015625,
90.087890625
]
| [
99.228515625,
160.6640625,
36.5625,
71.455078125,
86.044921875,
90.087890625
]
| 3.166667 | 95 | 0 | 95 | 0 |
[
97.20703125,
162.685546875,
34.62890625,
69.345703125,
85.078125,
90.087890625
]
| [
98.701171875,
161.279296875,
36.5625,
70.927734375,
85.78125,
90.087890625
]
| 3.2 | 96 | 0 | 96 | 0 |
[
96.85546875,
163.212890625,
34.62890625,
68.994140625,
84.814453125,
90.17578125
]
| [
98.173828125,
161.89453125,
36.5625,
70.576171875,
85.60546875,
90.087890625
]
| 3.233333 | 97 | 0 | 97 | 0 |
[
96.50390625,
163.65234375,
34.62890625,
68.818359375,
84.462890625,
90.17578125
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| [
97.646484375,
162.509765625,
36.5625,
70.13671875,
85.341796875,
90.087890625
]
| 3.266667 | 98 | 0 | 98 | 0 |
[
96.240234375,
164.091796875,
34.62890625,
68.642578125,
84.111328125,
90.17578125
]
| [
97.20703125,
163.212890625,
36.5625,
69.78515625,
85.166015625,
90.087890625
]
| 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 20,
"total_frames": 11959,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:20"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.images.webcam": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
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